CN111656298A

CN111656298A - Control method of holder, movable platform and readable storage medium

Info

Publication number: CN111656298A
Application number: CN201880087828.1A
Authority: CN
Inventors: 刘帅; 王映知; 谢振生
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2018-09-30
Filing date: 2018-09-30
Publication date: 2020-09-11
Also published as: WO2020062281A1

Abstract

A control method of a cloud platform (100), the cloud platform (100), a movable platform and a readable storage medium (300) are provided. The control method comprises the following steps: acquiring a desired joint angular velocity (S10) of the pan-tilt (100) in a pan-tilt joint angular coordinate system; converting the expected joint angular velocity into an expected euler angular velocity according to the expected joint angular velocity, the conversion relation between the pan-tilt joint angular coordinate system and the cloud platform body coordinate system, and the conversion relation between the cloud platform body coordinate system and the euler coordinate system (S20); a desired attitude of the pan/tilt head (100) is determined based on the current attitude of the pan/tilt head (100) and the desired Euler angular velocity (S30).

Description

Control method of holder, movable platform and readable storage medium

Technical Field

The invention relates to the technical field of holder control, in particular to a holder control method, a holder, a computer movable platform and a readable storage medium.

Background

At present, the tripod head is widely applied due to the stability increasing performance. For example, a camera may be mounted on the pan/tilt head, and camera shake generally affects captured images or videos.

In practical application, the cradle head not only can realize stability augmentation, but also can realize angle adjustment of a load carried on the cradle head. For example, a camera may be mounted on the pan/tilt head, and the shooting angle of the camera may be controlled by adjusting the angle of the pan/tilt head.

In the control process of the conventional pan/tilt head, the attitude of the pan/tilt head is generally regulated and controlled by controlling the euler angular velocity so as to achieve the attitude change of the load, namely, the expected euler angular velocity is directly input to obtain the expected attitude. However, in some states of the pan/tilt head, for example, when the base of the pan/tilt head is tilted, the user may pay more attention to the positional relationship of each axis arm in the pan/tilt head with respect to the base of the pan/tilt head when the base of the pan/tilt head is tilted, but the positional relationship between each axis arm in the pan/tilt head with respect to the base of the pan/tilt head may be changed and the joint angle of the corresponding axis arm may be changed, so that when the pan/tilt head is controlled by using the directly input desired euler angular velocity, the pan/tilt head may not be moved to the desired attitude obtained by the directly input desired euler angle.

Disclosure of Invention

The embodiment of the invention provides a control method of a cloud deck, the cloud deck, a movable platform and a computer readable storage medium.

The control method of the cloud platform comprises the following steps: acquiring an expected joint angular velocity of the holder in a holder joint angular coordinate system; converting the expected joint angular velocity into an expected Euler angular velocity according to the expected joint angular velocity, the conversion relation between the holder joint angular coordinate system and the cloud platform body coordinate system and the conversion relation between the cloud platform body coordinate system and the Euler coordinate system; and determining the expected attitude of the holder according to the current attitude of the holder and the expected Euler angular velocity.

The cloud platform of the embodiment of the invention comprises a processor, wherein the processor is used for:

acquiring an expected joint angular velocity of the holder in a holder joint angular coordinate system;

converting the expected joint angular velocity into an expected Euler angular velocity according to the expected joint angular velocity, the conversion relation between the holder joint angular coordinate system and the cloud platform body coordinate system and the conversion relation between the cloud platform body coordinate system and the Euler coordinate system;

and determining the expected attitude of the holder according to the current attitude of the holder and the expected Euler angular velocity.

The movable platform comprises a body and a holder, wherein the holder is arranged on the body and comprises a processor, and the processor is used for:

A computer-readable storage medium of an embodiment of the present invention has stored thereon a computer program executable by a processor to perform the above-described control method.

In the control method of the pan/tilt head, the movable platform and the computer readable storage medium according to the embodiment of the present invention, the expected joint angular velocity can be converted into the expected euler angular velocity according to the conversion relationship between the pan/tilt head joint angular coordinate system and the cloud platform body coordinate system and the conversion relationship between the cloud platform body coordinate system and the euler coordinate system, and the expected attitude of the pan/tilt head can be determined by combining the current attitude of the pan/tilt head and the expected euler angular velocity. Therefore, even if the base of the cloud platform inclines, the expected joint angular speed is converted through the cloud platform body coordinate system, the planning of joint space and the movement of the base of the cloud platform are comprehensively considered, the simultaneous movement of all the shaft arms in the cloud platform to the expected posture can be ensured, and the position relation of all the shaft arms in the cloud platform relative to the base is kept relatively fixed.

Additional aspects and advantages of embodiments of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic flow chart of a control method of a pan/tilt head according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a movable platform according to an embodiment of the present invention;

fig. 3 and 4 are schematic structural views of a head according to other embodiments of the present invention;

fig. 5 to 9 are schematic flow charts of a control method of a pan and tilt head according to some embodiments of the present invention;

fig. 10 is a scene schematic diagram of a control method of a pan/tilt head according to some embodiments of the present invention;

fig. 11 is a schematic flow chart of a control method of a pan/tilt head according to some embodiments of the present invention;

fig. 12 is a scene schematic diagram of a control method of a pan/tilt head according to some embodiments of the present invention;

fig. 13 to 22 are schematic flow charts of a control method of a pan and tilt head according to some embodiments of the present invention; and

fig. 23 is a schematic diagram of a connection between a pan and tilt head and a computer readable storage medium according to some embodiments of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

Referring to fig. 1 to fig. 3, an embodiment of the invention provides a control method of a pan/tilt head 100. The control method comprises the following steps:

s10, acquiring an expected joint angular velocity of the pan-tilt 100 in a pan-tilt joint angular coordinate system;

s20, converting the expected joint angular velocity into the expected Euler angular velocity according to the expected joint angular velocity, the conversion relation between the cloud platform joint angular coordinate system and the cloud platform body coordinate system and the conversion relation between the cloud platform body coordinate system and the Euler coordinate system;

s30, determining the expected attitude of the pan/tilt head 100 according to the current attitude of the pan/tilt head 100 and the expected euler angular velocity.

With continued reference to fig. 2 and 3, the pan/tilt head 100 according to the embodiment of the present invention includes a processor 20, and the processor 20 is configured to: acquiring an expected joint angular velocity of the pan-tilt 100 in a pan-tilt joint angular coordinate system; converting the expected joint angular velocity into an expected Euler angular velocity according to the expected joint angular velocity, the conversion relation between the cloud platform joint angular coordinate system and the cloud platform body coordinate system and the conversion relation between the cloud platform body coordinate system and the Euler coordinate system; the desired attitude of the pan/tilt head 100 is determined according to the current attitude of the pan/tilt head 100 and the desired euler angular velocity.

That is, the control method according to the embodiment of the present invention may be implemented by the cradle head 100 according to the embodiment of the present invention, wherein the step S10, the step S20, and the step S30 may be implemented by the processor 20.

In the embodiment of the present invention, the pan/tilt head 100 may be a two-axis pan/tilt head or a three-axis pan/tilt head. The head 100 may be a head 100 mounted on the body of a movable platform. The movable platform may include an unmanned aerial vehicle, a robot, or a mobile cart, etc. As shown in fig. 2, the movable platform may be a mobile cart 1000, which includes a cart body 200 (i.e., a body of the movable platform, i.e., a base of the cradle head 100), and the cradle head 100 is disposed on the cart body 200. As shown in fig. 3, the head 100 may be a handheld head, wherein the handle of the handheld head is considered as the base of the head 100.

The cradle head 100 may be mounted with a load 30, where the load 30 may be an imaging device 32 (such as a camera, a camcorder, a mobile phone, a tablet computer, etc.) and/or a shooting device 31, and may be configured differently according to a desired scene. The attitude of the load 30 may vary with the attitude of the pan/tilt head 100, and may be augmented by the pan/tilt head 100.

It is to be understood that the location of the processor shown in fig. 2 and 3 is merely illustrative and not limiting, and after the description herein, the limitation will not be repeated.

Referring to fig. 4, the present embodiment further illustrates a three-axis pan/tilt head 100 as an example, where the three-axis pan/tilt head (rotating around yaw axis, roll axis, and pitch axis) includes at least one rotating shaft structure 10. Each pivot structure 10 may include a pivot motor 12 and a pivot arm 14, the pivot structure 10 corresponding to the yaw axis may include a yaw axis motor 122 and a yaw axis arm 142, the pivot structure 10 corresponding to the roll axis may include a roll axis motor 124 and a roll axis arm 144, and the pivot structure 10 corresponding to the pitch axis may include a pitch axis motor 126 and a pitch axis arm 146. Attitude control of the pan/tilt head 100 may be achieved by controlling the respective axis arms to rotate about the yaw axis, roll axis, and/or pitch axis by the yaw axis motor 122, roll axis motor 124, and pitch axis motor 126.

Specifically, in this embodiment, the expected joint angular velocity of the pan/tilt head 100 in the pan/tilt head joint angular coordinate system may be obtained, where the expected joint angular velocity is a control velocity of a corresponding shaft arm in the pan/tilt head 100, and may be directly input by a user, for example, the input expected joint angular velocity is 10 degrees/second, and may also be obtained by performing corresponding conversion according to an input operation of the user, or may be preset. By combining the desired joint angular velocity and the corresponding control duration, the attitude of the pan/tilt head 100 that is expected to need to be controlled can be determined.

In order to precisely control the pan/tilt head to move to the desired attitude, in step S20, referring to fig. 5, the method converts the desired joint angular velocity into the desired euler angular velocity according to the desired joint angular velocity, the conversion relationship between the pan/tilt head joint angular coordinate system and the cloud platform body coordinate system, and the conversion relationship between the cloud platform body coordinate system and the euler coordinate system, and specifically includes the following sub-steps:

and S21, converting the expected joint angular velocity into the expected body angular velocity according to the expected joint angular velocity and the conversion relation among the holder joint angular coordinate system and the holder body coordinate system.

The configuration of the ZXY three-axis pan/tilt head 100 shown in fig. 4 is taken as an example. In this configuration, assuming that Z is a yaw axis, X is a roll axis, and Y is a pitch axis, the yaw axis arm 142 is an outer frame, the roll axis arm 144 is an inner frame, and the pitch axis arm 146 is an inner frame. Yaw axis motor 122 is configured to rotate yaw axis arm 142 to rotate roll axis motor 124 and roll axis arm 144, pitch axis motor 126 and pitch axis arm 146, and load 30 carried on head 100, roll axis motor 124 is configured to rotate roll axis arm 144 to rotate pitch axis motor 126 and pitch axis arm 146, and load 30, and pitch axis motor 126 is configured to rotate pitch axis arm 146 to rotate load 30.

In the process of converting the desired joint angular velocity into the desired euler angular velocity, the conversion relationship between the pan-tilt joint angular coordinate system and the pan-tilt body coordinate system is related to the configuration of the pan-tilt 100, and the pan-tilt configurations are different and the conversion relationships are different.

In this embodiment, the rotation axis Voutz of the coordinate axis of the yaw axis joint angle is [0,0,1], the rotation axis Vmidx of the coordinate axis of the roll axis joint angle is [1, 0, 0], and the rotation axis Vinny of the coordinate axis of the pitch axis joint angle is [0, 1, 0 ]. Converting Voutz, Vmidx and Vinny to a cloud platform body coordinate system respectively:

V_outz→b＝R_y＇*R_x＇*R_z＇*V_outz

V_midx→b＝R_y＇*R_x＇*V_midx

V_inny→b＝R_y＇*V_inny

wherein, Ry ', Rx ', Rz ' respectively correspond to the transpose of Ry, Rx, Rz, Ry, Rx, Rz respectively are the rotation matrix of the joint angle coordinate system from Y axis (pitch axis), X axis (roll axis), Z axis (yaw axis) to the reference coordinate system. For example, Ry, Rx, Rz may be as follows:

the reference coordinate system is a coordinate system with a joint angle of 0, and A is a conversion angle from the joint angle coordinate system to the reference coordinate system.

In step S21, the desired body angular velocity W_bThe calculation formula of (a) is as follows:

W_b＝R_j-b*W_j；

wherein R is_j-bThe conversion relationship between the cloud platform joint angular coordinate system and the cloud platform body coordinate system is as follows:

wherein inn _ joint _ ang _ rad is an inner frame joint angle, and mid _ joint _ ang _ rad is an inner frame joint angle.

Aiming at a two-axis tripod head, a conversion relation R between a tripod head joint angular coordinate system and a tripod head body coordinate system_j→bThe conversion of (c) is as follows:

and S22, converting the expected body angular velocity into the expected Euler angular velocity according to the expected body angular velocity and the conversion relation among the cloud platform body coordinate system and the Euler coordinate system.

In this step, the Euler angular velocity is expected

The calculation formula of (a) is as follows:

wherein,

the conversion relationship between the cloud platform body coordinate system and the Euler coordinate system is as follows:

wherein inn _ euler _ ang _ rad is an inner frame euler angle, mid _ euler _ ang _ rad is a middle frame euler angle, and the inner frame euler angle and the middle frame euler angle are both the expected euler angle of the holder 100 at the time of last closed loop, i.e. the real-time attitude of the holder at the end of last closed loop.

In this manner, the desired joint angular velocity can be converted into the euler angular velocity through the yuntai body coordinate system in steps S21 and S22.

With continuing reference to fig. 2 and fig. 3, in the present embodiment, the processor 20 is further configured to: converting the expected joint angular velocity into an expected body angular velocity according to the expected joint angular velocity, the conversion relation between the cloud platform joint angular coordinate system and the cloud platform body coordinate system; and converting the expected body angular velocity into the expected Euler angular velocity according to the expected body angular velocity and the conversion relation among the cloud platform body coordinate system and the Euler coordinate system.

That is, steps S21 and S22 may be implemented by the processor 20.

In one embodiment, according to the above-mentioned conversion relationship, assuming that the middle frame joint angle is 40 degrees, the inner frame euler angle is 10, the middle frame euler angle is 0, and the desired joint angular velocity is [0,0,1], if the conversion between the above coordinate systems is not performed, the euler angular velocity of the pan/tilt head 100 is defaulted to the joint angular velocity [0,0,1 ]. And after the conversion between the coordinate systems, the Euler angular velocity of the tripod head is [ -0.3830,0.6428,0.6634 ].

Further, in this embodiment, after determining the desired euler angular velocity, the desired attitude of the pan/tilt head 100 may be determined according to the desired euler angular velocity and the current attitude of the pan/tilt head 100. Assuming that the movement duration of the pan/tilt head 100 is t, the desired attitude can be as follows:

wherein, tar _ euler _ roll (t) is the attitude of the corresponding roll shaft in the expected attitude, tar _ euler _ pitch (t) is the component of the corresponding pitch shaft in the expected attitude, tar _ euler _ yaw (t) is the component of the corresponding yaw shaft in the expected attitude, Wx is the expected euler angular velocity of the corresponding roll shaft, Wy is the expected euler angular velocity of the corresponding pitch shaft, Wz is the expected euler angular velocity of the corresponding yaw shaft, tar _ euler _ roll _ init is the euler angle of the corresponding roll shaft in the current attitude, tar _ euler _ pitch _ init is the euler angle of the corresponding pitch shaft in the current attitude, and tar _ euler _ yaw _ init is the euler angle of the corresponding yaw shaft in the current attitude.

In summary, according to the movement duration t and the desired joint angle of the pan/tilt head 100, the desired attitude of the pan/tilt head 100 at any time, that is, the desired joint angle corresponding to each axis arm in the pan/tilt head 100, can be obtained.

In conjunction with the above example, taking fig. 4 as an example, when the desired joint angular velocity is [0,0,1] as the desired euler angular velocity, it can be seen that when the pitch axis arm 146 is rotated, the euler angles of the other axial arms remain unchanged, and, in the event of a tilt of the base of the head 100, in order to maintain the euler angles, other shaft arms rotate, and after the other shaft arms rotate, the other shaft arms cannot keep the relative position relationship with the base of the holder 100 and cannot rotate synchronously with the base, so that the control of the holder cannot be effectively utilized in some scenes, when other shaft arms are continuously controlled, the joint angle changes due to the rotation of other shaft arms, the attitude control may not be able to follow a predetermined path due to the mechanical limitation of the joint angle, and is not advantageous for applications that require ignoring the tilt of the base of the head 100 in some situations.

The desired posture obtained by the conversion using the desired joint angular velocity is actually moved to the desired joint angle corresponding to the desired joint angular velocity. Thus, by considering the movement of the base of the pan/tilt head 100, the relationship between each axis arm in the pan/tilt head 100 and the base of the pan/tilt head 100 can be kept relatively stable, and then the movement path of the pan/tilt head 100 can be estimated by controlling the desired angular velocity of the joint and the movement duration, and the phenomenon that the desired attitude cannot be reached due to the inclination of the base of the pan/tilt head 100 will not occur.

In the control method of the pan/tilt head, the movable platform and the computer readable storage medium according to the embodiment of the present invention, the expected joint angular velocity can be converted into the expected euler angular velocity according to the conversion relationship between the pan/tilt head joint angular coordinate system and the cloud platform body coordinate system and the conversion relationship between the cloud platform body coordinate system and the euler coordinate system, and the expected attitude of the pan/tilt head can be determined by combining the current attitude of the pan/tilt head and the expected euler angular velocity. Therefore, even if the base of the cloud platform inclines, the expected joint angular speed is converted through the cloud platform body coordinate system, the planning of joint space and the movement of the base are comprehensively considered, the simultaneous movement of each shaft arm in the cloud platform to the expected posture can be ensured, and the position relation of each shaft arm in the cloud platform relative to the base is kept relatively fixed. Further, in a specific application scenario, by means of the desired joint angle and converting the desired joint angular velocity into the desired euler angular velocity via the yutai body coordinate system, the following effects may be achieved:

1. as shown in fig. 2, the movable platform is a moving cart 1000, the cradle head 100 is a two-axis cradle head (for example, rotating around a yaw axis and a pitch axis), the cradle head 100 may include a yaw axis arm 142 and a yaw axis motor 122, a pitch axis arm 146 and a pitch axis motor 126, and the load 30 is a shooting device 31. The user can control the movement of the mobile cart 1000 and the pan/tilt head 100 through a remote controller, for example, to control the mobile cart 1000 to shoot on a horizontal plane. However, when the mobile cart 1000 is tilted, for example, the mobile cart 1000 moves on an inclined plane, and the pitch axis arm 146 in the pan/tilt head 100 is in the stability augmentation mode, if the user only controls the pan/tilt head 100 to rotate around the yaw axis, since the control of the pan/tilt head 100 is the euler angle control, the rotation of the yaw axis arm 142 will drive the pitch axis arm 146 in the stability augmentation mode to rotate, but the pitch axis arm 146 will rotate around the Z axis of the world coordinate system, so that the shooting direction of the shooting device 31 is still parallel to the horizontal direction, i.e. the bullet shot by the shooting device 31 is still shot in the horizontal direction, rather than the direction parallel to the inclined plane as desired by the user. Thus, during a race in which the dolly 100 is moved, the accuracy of the striking of the shooting device 31 will be low, if a slope is encountered and a competitor needs to be struck on the slope.

In the present embodiment, when the yaw axis arm 142 is controlled as described above, since the joint angular velocity is expected to be converted by the platform body coordinate system, the pitch axis arm 146 will not rotate around the Z axis of the world coordinate system, but will rotate around the platform body, that is, the Z axis of the vehicle body 200 (i.e., the base of the platform 100). In this manner, even if the dolly 1000 is tilted, the tilt axis arm 146 will also tilt with the dolly 1000, facilitating the shooting device 31 to be aligned with a competitor on the slope.

Meanwhile, if the user wants to change the attitude of the firing device 31 to a direction parallel to the inclined plane by directly inputting the euler angular velocity and needs to control to sweep back and forth left and right, the user needs to simultaneously input the euler angular velocities for the yaw axis arm 142 and the pitch axis arm 146, the operation is complicated, and the pitch axis arm 146 cannot necessarily be accurately controlled, so that the attitude of the firing device 31 is changed to a direction parallel to the inclined plane.

However, with the control method of the pan/tilt head 100 according to the embodiment of the present invention, the user can input the joint angular velocity for only one axis (for example, a yaw axis), so that the shooting direction of the shooting device 31 is parallel to the slope surface and can sweep back and forth from left to right, and the euler angular velocities for two axes do not need to be input at the same time, which is simple to operate and easy to control.

2. As in the embodiment of fig. 3, the head 100 is a handheld head, the head 100 may include a yaw axis arm 142 and a yaw axis motor 122, a roll axis arm 146 and a roll axis motor 126, a pitch axis arm 146 and a pitch axis motor 126, and the load 30 is the imaging device 32. The user may capture still sensed data (e.g., pictures) or motion sensed data (e.g., video) via the imaging device 32. When a user needs a video with a specific effect, the user may shoot the video according to a desired motion path (e.g., shooting the video with the imaging device 32 towards the ground and then towards the sky) to create a skyward video effect. However, during shooting, there may be different postures of the user holding the handle of the pan/tilt head in hand, for example, different angles at which the handle is inclined. In the case that the tilt angles of the handles are different, if the original attitude angle mode (i.e. the mode controlled by directly inputting the desired euler angle or the desired euler angular velocity) is continuously used, the euler angles of the corresponding axes of the pan/tilt head 100 may be different, for example, when the tilt angles of the handles are 40 degrees and 60 degrees, if the control is performed at the same directly input desired euler angle or desired euler angular velocity, the euler angles of the roll axes 144 in the pan/tilt head 100 may be different, or even the desired euler angles input by the user may not be reached, so that it cannot be guaranteed that the same video effect is captured in different usage scenarios.

In this embodiment, the desired joint angular velocity is converted by the cloud platform body coordinate system, so that the desired posture corresponding to the desired joint angle can be determined, that is, when the cloud platform 100 moves to the desired posture, the position of the desired joint angle corresponding to the desired joint angular velocity for the movement of the cloud platform 100 can be determined. Thus, whether the handheld tripod head is inclined or not or whether the inclination angles are the same or not, the corresponding shaft arm in the tripod head 100 can be controlled to move to the expected joint angle, and the situation that the expected control of the corresponding shaft arm in the tripod head 100 cannot be realized due to the different inclination angles of the handheld tripod head does not occur.

Therefore, as long as the acquired desired joint angular velocity is the same, even if the handheld pan/tilt head is inclined, the imaging device 32 can be used to move to the desired joint angle, so as to achieve the same shooting effect in different scenes.

Based on the above, the following will specifically describe the embodiments of the present invention with reference to the above two application scenarios:

referring to fig. 6, in the present embodiment, after determining the desired attitude of the pan/tilt head 100 according to the current attitude and the desired euler angular velocity of the pan/tilt head 100, that is, after step S30, the control method further includes the following steps:

and S40, controlling the pan/tilt head 100 to rotate to a desired attitude according to the desired Euler angular velocity.

With continued reference to fig. 2, fig. 3, and fig. 6, in the present embodiment, the processor 20 is further configured to: and controlling the holder 100 to rotate to a desired attitude according to the desired Euler angular velocity.

That is, step S40 may be implemented by processor 20.

At the time of obtaining the desired Euler angular velocity

Then, the current attitude of the cradle head 100 is acquired, so that the current euler angles (yaw angle, roll angle, and pitch angle) are obtained, the desired euler angular velocity is superimposed on the current euler angle, so that the desired euler angle, that is, the desired attitude is obtained, and the cradle head 100 is controlled to rotate to the desired euler angle, so that the load 30 is rotated to the desired attitude.

Continuing with the example of the load 30 as the shooting device 31, the current attitude of the cradle head 100 is detected, which may be represented by the euler angle, for example, the shooting direction of the current shooting device 31 is parallel to the horizontal plane, then the desired euler angular velocity is superimposed on the current euler angle to obtain the desired euler angle, which may then be used to represent the desired attitude, for example, the desired attitude is such that the shooting direction of the shooting device 31 is parallel to the inclined plane, and finally the cradle head 100 is controlled to rotate to the desired attitude according to the method of closed-loop control, so that the shooting device 31 may shoot the bullet in the direction parallel to the inclined plane.

Similarly, when the load 30 is the imaging device 32, the cradle head 100 may be controlled to rotate to the desired posture according to step S40, so that the imaging device 32 can capture a video in the process of being in the desired posture or moving to the desired posture. Meanwhile, in the process of controlling the pan/tilt head 100 to move to the desired attitude according to the desired euler angular velocity, the velocity is uniform, and in the process of controlling the pan/tilt head 100 to move to the desired attitude, because the dependence on the joint angle in the rotation process is not required, the dependence on the precision of the joint angle is low, and the shot video picture is smooth and the smoothness uniformity is high. Meanwhile, it can be ensured that each shaft arm moves to a specified position in the joint space within the movement duration, that is, a desired joint angle position, without being concerned about whether the base of the pan/tilt head 100 is tilted.

Referring to fig. 7, in the present embodiment, in step S40, according to the desired euler angular velocity, the method for controlling the pan/tilt head 100 to rotate to the desired attitude includes the following sub-steps:

and S41, controlling the holder 100 to rotate to the expected posture according to the expected Euler angular velocity when the preset shooting trigger event occurs.

With continued reference to fig. 2, fig. 3, and fig. 7, in the present embodiment, the processor 20 is further configured to: when a preset shooting trigger event occurs, the pan/tilt head 100 is controlled to rotate to a desired attitude according to a desired euler angular velocity.

That is, step S41 may be implemented by processor 20.

With reference to fig. 3, the cradle head 100 may be equipped with an imaging device 32, after determining the expected attitude of the cradle head 100 according to the current attitude and the expected euler angle of the cradle head 100, the cradle head 100 may not be controlled to rotate to the expected attitude immediately, that is, after determining the expected attitude of the cradle head 100, a user may first keep the current attitude of the cradle head 100 unchanged, and then perform a predetermined arrangement on a shooting scene or allow a shot person to perform a good motion, and then trigger the cradle head 100 to move to the expected attitude through a predetermined shooting trigger event, and during the process that the cradle head 100 moves to the expected attitude, the imaging device 32 performs a predetermined shooting motion at the same time.

The shooting trigger event may be a user inputting a shooting start instruction, for example, pressing a shooting button on the cradle head 100, clicking on a screen of the cradle head 100 to start shooting, issuing a predetermined shooting voice instruction, triggering an imaging device on the cradle head 100 to shoot at a control terminal of the cradle head 100, and the like.

It will be appreciated that in the embodiment shown in fig. 3, the load 30 may also include an imaging device, i.e., a mobile cart 1000 for capturing images and/or video.

Referring to fig. 8, in step S10, acquiring a desired joint angular velocity of the pan/tilt head 100 in the pan/tilt head joint angular coordinate system includes the following sub-steps:

s11, receiving input information for controlling the rotational speed of the pan/tilt head 100;

and S12, determining the expected joint angular speed of the pan-tilt 100 in the pan-tilt joint angular coordinate system according to the input information.

With continued reference to fig. 2, fig. 3, and fig. 8, in the present embodiment, the processor 20 is further configured to: receiving input information for controlling a rotational speed of the pan/tilt head 100; according to the input information, the expected joint angular velocity of the pan-tilt 100 in the pan-tilt joint angular coordinate system is determined.

That is, steps S11 and S12 may be implemented by the processor 20.

Specifically, the user can control the rotational speed of the cradle head 100. From the input information of the user, a desired joint angular velocity of the pan/tilt head 100 may be determined. The input information may be input by a user at various control terminals communicating with the cradle head 100. The control terminal comprises a remote controller, a mobile phone, an ipad, a computer and the like. The user input mode may be a joystick operation of a remote controller, a display input device of the remote controller or the cradle head 100, a mobile phone interface, or a computer interface operation, etc. Each type of input information corresponds to a different processing mode to obtain the desired joint angular velocity.

In the present embodiment, the input information includes various kinds, such as a rocker amount, a desired joint angle, a desired movement path, and the like.

Next, a plurality of different ways of acquiring the desired joint angular velocity will be described for different input information.

Referring to fig. 9, the input information includes a desired joint angle, and the step S12 determines a desired joint angular velocity of the pan/tilt head 100 in the pan/tilt head joint angle coordinate system according to the input information, including the following sub-steps:

and S121, determining the expected joint angular velocity of the holder 100 in a holder joint angular coordinate system according to the expected joint angle, the current posture and the preset movement time.

With continued reference to fig. 2, 3 and 9, in the present embodiment, the input information includes a desired joint angle, and the processor 20 is further configured to: and determining the expected joint angular velocity of the pan/tilt head 100 in the pan/tilt head joint angular coordinate system according to the expected joint angle, the current posture and the preset movement time.

That is, step S121 may be implemented by the processor 20.

In particular, the desired joint angle may be a single input by the user. It is understood that after the current posture of the pan/tilt head 100 is obtained, the current joint angle of the pan/tilt head 100 can be obtained. The desired joint angular velocity can be calculated by combining the desired joint angle input by the user, the current joint angle of the pan/tilt head 100, and the preset movement time. If the current joint angle of the pan/tilt head 100 is W1, the desired joint angle is W2, and the preset movement time is t seconds, the desired joint angular velocity is W_j＝(W2-W1)/t。

Referring to fig. 3 and 10, taking the load 30 as the imaging device 32 as an example, a movement time t for the pan/tilt head 100 to rotate the current posture to the desired posture is preset. The imaging device 32 performs shooting according to the desired motion path within a preset motion time t, which may be a shooting duration set by a user. For example, taking the input desired joint angle as being toward the right of the current frame and the preset movement time as 10 seconds as an example, the desired movement of the pan/tilt head 100 is to be rotated from the current joint angle to the right of the current frame within 10 seconds, and the pan/tilt head 100 forms a shooting path of the imaging device 32 during the movement.

It can be understood that, when shooting is performed by using the imaging device 32 on the pan/tilt head 100, if a desired joint angle input by the user is obtained, the pan/tilt head may be defaulted to enter a preset shooting mode, and after shooting is completed, the pan/tilt head 100 may exit the preset shooting mode, and the original stability augmentation mode or following mode is retained, or the pan/tilt head 100 may be retained in the preset shooting mode, which is not specifically limited herein.

Referring to fig. 11, further, in the present embodiment, the desired joint angle includes a plurality of joint angles, and the determining the desired joint angular velocity of the pan/tilt head 100 in the pan/tilt head joint angle coordinate system according to the desired joint angle, the current posture and the preset movement time in step S121 includes the following sub-steps:

s1211, determining, according to the plurality of expected joint angles, the current posture and the preset movement time, expected joint angular velocities of the pan/tilt 100 in the pan/tilt joint angle coordinate system corresponding to the expected movement paths, each expected movement path being determined according to the plurality of expected joint angles and the current posture.

With continuing reference to fig. 2, 3 and 11, in the present embodiment, the desired joint angle includes a plurality of joint angles, and the processor 20 is further configured to: according to the plurality of expected joint angles, the current posture and the preset movement time, expected joint angular velocities of the pan-tilt 100 in a pan-tilt joint angle coordinate system corresponding to the expected movement paths are determined, and the expected movement paths are determined according to the plurality of expected joint angles and the current posture.

That is, step S1211 may be implemented by the processor 20.

It will be appreciated that the desired joint angle may be a plurality of values input by the user in a single instance, or a plurality of values input multiple times. After the plurality of desired joint angles are input, the pan/tilt head 100 is controlled to move according to the plurality of desired joint angles, and the pan/tilt head 100 can move according to the complete desired movement path. Referring to fig. 3 and 12, if the postures corresponding to the desired joint angles are W1, W2, W3, W4 and W5 in sequence, the first path may be a path between W1 and W2, the second path may be a path between W2 and W3, the third path may be a path between W3 and W4, and the fourth path may be a path between W4 and W5, so that at least one desired movement path (indicated by a curve Q) may be formed.

Thus, referring to fig. 3, when the cradle head 100 is provided with the imaging device 32, the user can set various paths according to the shooting requirement, so that the imaging device 32 on the cradle head 100 can move along a relatively complex path at one time, and simultaneously shoot a picture with good continuity, and the user can make a shooting effect with more interest, for example, a shooting effect of making a skyward turn, by inputting a plurality of different expected joint angles.

Referring to fig. 13, the input information may include a desired motion path in addition to a desired joint angle. Specifically, in the present embodiment, the input information includes a desired motion path, and the step S12 determines a desired joint angular velocity of the pan/tilt head 100 in the pan/tilt joint angular coordinate system according to the input information, including the following sub-steps:

s122, determining a desired joint angle of the holder 100 according to the desired motion path;

and S123, determining the expected joint angular velocity of the holder 100 in the holder joint angular coordinate system according to the expected joint angle, the current posture and the preset movement time.

With continued reference to fig. 2, fig. 3, and fig. 13, in the present embodiment, the input information includes a desired motion path, and the processor 20 is further configured to: determining a desired joint angle of the pan/tilt head 100 according to the desired motion path; and determining the expected joint angular velocity of the pan/tilt head 100 in the pan/tilt head joint angular coordinate system according to the expected joint angle, the current posture and the preset movement time.

That is, steps S122 and S123 may be implemented by the processor 20.

In particular, depending on the desired motion path, one or more desired joint angles may be determined. Continuing with the example of fig. 12, the desired motion path may be directly a curve Q representing the motion path of the imaging device 32, where the curve Q may be input by the user in the pan/tilt head 100 or a control terminal of the pan/tilt head 100, or may be a curve Q obtained by pre-storing the desired motion path in the pan/tilt head 100. The state of each point in the expected motion path may be represented by an expected joint angle of the pan/tilt head 100, but in the expected motion path, if a plurality of sub paths are included, an expected joint angle corresponding to a head/tail point in the plurality of sub paths may be determined.

In one example, the desired motion path may be determined according to a change in the posture of the pan/tilt head 100 when the pan/tilt head 100 is manually pulled. When the user manually pulls the pan/tilt head 100, the movement track of the imaging device 32 when the user pulls the pan/tilt head 100 can be recorded, and the movement track can be saved and used as the desired movement path. In this way, the user can input the expected movement path more intuitively, and the operation is simple.

Referring to fig. 14, further, in the present embodiment, the cradle head 100 is mounted with the imaging device 32, and the control method includes the following steps:

s50, in the process of manually pulling the pan/tilt head 100, a preview screen of the imaging device 32 is outputted.

Referring to fig. 2, fig. 3 and fig. 14, in the present embodiment, the cradle head 100 is mounted with the imaging device 32, and the processor 20 is further configured to: in the process of manually pulling the pan/tilt head 100, a preview screen of the imaging device 32 is output.

That is, step S50 may be implemented by processor 20.

It can be understood that, during the process of manually snapping the pan/tilt head 100, the imaging device 32 can still continue to shoot, and the user can preview whether the video shot in the path can meet the requirement through the output preview picture, and can further select whether the snapped path is required to be the desired motion path.

Referring to fig. 15, the input information may also be history input information. In this embodiment, the step S12 of determining the desired joint angular velocity of the pan/tilt head 100 in the pan/tilt head joint angular coordinate system according to the input information includes the following sub-steps:

s124, determining a target speed mode matched with the input information in the plurality of historical speed modes;

and S125, determining the expected joint angular speed of the holder 100 in the holder joint angular coordinate system according to the target speed mode.

With continued reference to fig. 2, fig. 3, and fig. 15, in the present embodiment, the processor 20 is further configured to: determining a target speed pattern matching the input information among a plurality of historical speed patterns; according to the target velocity pattern, a desired joint angular velocity of the pan/tilt head 100 in the pan/tilt head joint angular coordinate system is determined.

That is, steps S124 and S125 may be implemented by the processor 20.

Specifically, when the desired joint angular velocity is determined from the input information of the user, after the desired joint angular velocity is determined, the desired joint angular velocity may be recorded, and the plurality of desired joint angular velocities form a plurality of historical velocity patterns by being accumulated. Forming a plurality of historical speed patterns. Therefore, when the pan/tilt head 100 is controlled, the pan/tilt head 100 may output a plurality of historical speed modes, and a user may conform to a target speed mode required by current control in the plurality of historical speed modes, and the pan/tilt head 100 may determine an expected joint angular speed of the pan/tilt head 100 in the joint angular coordinate system according to the target speed mode selected by the user.

The cradle head 100 can output a plurality of historical speed modes to a control terminal of the cradle head 100, and display the historical speed modes on a display screen of the control terminal, and then a user selects a target speed mode at the control terminal; or, the pan/tilt head 100 may also display a plurality of historical speed modes on a display screen of the device where the pan/tilt head 100 is located, and with reference to fig. 3, if the pan/tilt head 100 is a handheld pan/tilt head, a display screen may be disposed on a handle thereof, and a user may select a target speed mode through the display screen on the handle; alternatively, the pan/tilt head 100 may be provided with a speaker, and the speaker outputs a plurality of historical speed patterns, and the user selects the target speed pattern. It can be understood that the interaction manner of the user with the control terminal and/or the cradle head 100 may include, but is not limited to, touch, body feeling, voice, and the like.

For example, the cradle head 100 shown in fig. 3 is taken as a handheld cradle head for explanation, and the imaging device 32 is mounted on the cradle head 100. When a user uses the pan/tilt head 100 to shoot, the user may input a desired joint angle to control the pan/tilt head 100 to shoot for the purpose of moving to the desired joint angle, and after the user inputs the desired joint angle, the desired joint angle may convert a corresponding desired joint angular velocity according to a shooting duration of the pan/tilt head 100 and a current joint angle of the pan/tilt head 100, and the velocity mode may be stored. In the current scenario, if the user again inputs or selects a certain desired joint angle stored, step S124 may be triggered, so as to match a target speed pattern corresponding to the current desired joint angle among the plurality of historical speed patterns. The target speed mode includes an expected joint angular speed of the pan/tilt 100 in the pan/tilt joint angular coordinate system, and the motion of the pan/tilt 100 is controlled by using the expected euler angular speed obtained by converting the expected joint angular speed, so that the pan/tilt 100 can shoot in different scenes according to the same expected motion path.

Referring to fig. 16, in the present embodiment, the input information may also be a joystick operation amount. Specifically, the input information includes the amount of the joystick, and the step S12 determines the desired joint angular velocity of the pan/tilt head 100 in the pan/tilt head joint angular coordinate system according to the input information, including the following sub-steps:

and S126, determining the expected joint angular velocity of the holder 100 in the holder joint angular coordinate system according to the rocker operating lever amount and the corresponding relation between the preset rocker operating lever amount and the joint angular velocity.

With continued reference to fig. 2, 3, and 16, in the present embodiment, the input information includes a joystick amount, and the processor 20 is further configured to: and determining the expected joint angular velocity of the holder 100 in the holder joint angular coordinate system according to the rocker lever amount and the corresponding relation between the preset rocker lever amount and the joint angular velocity.

That is, step S126 may be implemented by the processor 20.

Taking the example shown in fig. 2, the amount of the rocker lever for controlling the shaft arm is converted into input values Raw _ y, Raw _ z of two channels according to the user input. In one example, the input values Raw _ y, Raw _ z may be directly converted into the desired joint angular velocity W_j＝[V_y,V_z]. In another example, it is also possible to directly input Raw _ y, Raw _ z and process the input values Raw _ y, Raw _ z to obtain the desired joint angular velocity W_j＝[V_y,V_z]。

The input value Raw _ y is the amount of the operation lever corresponding to the pitch axis arm 146, the input value Raw _ z is the amount of the operation lever corresponding to the yaw axis arm 142, and when the user only performs the rocker operation on the pitch axis arm 146 and the yaw axis arm 142, the amount of the operation lever corresponding to one of the axis arms is 0, that is, the input value of the corresponding channel is also 0. In this embodiment, in an application scenario of the mobile cart 1000, a user may perform a rocker operation only on the yaw axis arm 142 to realize a corresponding attitude control of the pitch axis arm 146, especially when the base of the pan/tilt head 100 is tilted.

Specifically, in the present embodiment, the dead zone limit is performed on the input values Raw _ y, Raw _ z. The dead band limit is a minimum limit on the input value. Taking the example of setting the minimum input value to 1, the corresponding desired joint angular velocity is uniformly given to 0 for input values smaller than 1. For example, if the input value is 0.5, the desired joint angular velocity is 0, thereby preventing the joystick from triggering the step of acquiring the desired joint angular velocity of the pan/tilt head 100 due to a minute vibration that is not input by the user. Then, normalization processing may be performed on the input value after the dead zone limitation, mapping processing may be performed by using a preset corresponding relationship between the rocker lever amount and the joint angular velocity, and an expected joint angular velocity W of the pan/tilt head 100 in the pan/tilt head 100 joint coordinate system corresponding to the rocker lever amount may be determined_j＝[V_y,V_z]。

Referring to fig. 17, the step S10 of obtaining the desired joint angular velocity of the pan/tilt head 100 in the pan/tilt head joint angular coordinate system includes the following sub-steps:

and S13, acquiring the expected joint angular velocity of the first axis arm in the pan-tilt 100 in the pan-tilt joint angular coordinate system.

Before converting the desired joint angular velocity into the desired euler angular velocity according to the desired joint angular velocity, the conversion relationship between the pan/tilt joint angular coordinate system and the cloud platform body coordinate system, and the conversion relationship between the cloud platform body coordinate system and the euler coordinate system at step S20, the control method further includes the steps of:

s60, detecting whether a second shaft arm in the holder 100 is in a stability augmentation mode, wherein the first shaft arm is used for driving the second shaft arm to rotate;

if so, step S20 is triggered.

With continuing reference to fig. 2, fig. 3 and fig. 17, in the present embodiment, the processor 20 is further configured to: acquiring an expected joint angular velocity of a first axis arm in the pan-tilt 100 in a pan-tilt joint angular coordinate system; detecting whether a second shaft arm in the holder 100 is in a stability augmentation mode, wherein the first shaft arm is used for driving the second shaft arm to rotate; if so, step S20 is triggered.

That is, step S60 may be implemented by processor 20.

Specifically, the first shaft arm is a shaft arm to be controlled, and the second shaft arm is a shaft arm which is driven when the first shaft arm rotates, for example, the first shaft arm is an outer frame as shown in fig. 4, and the second shaft arm is a middle frame and/or an inner frame, that is, the first shaft arm includes a yaw shaft arm 142, and the second shaft arm includes a pitch shaft arm 146 and/or a roll shaft arm 144; for another example, the first shaft arm is an inner frame as shown in fig. 4, and the second shaft arm is an inner frame.

In practical applications, the pan/tilt head 100 may include two control modes, a stability augmentation mode and a following mode. In the stability augmentation mode, the euler angles of the respective axes of the pan/tilt head 100 are locked, and in the following mode, the pan/tilt head 100 can rotate following the target object. When the second arm in the head 100 is in the augmented stability mode, if the base of the head 100 is tilted, the second arm still rotates around the Z axis in the world coordinate system during the user-controlled rotation of the first arm, which is disadvantageous in impact-fighting scenarios such as the mobile cart 1000. Therefore, before step S20, it may be further detected whether the second axle arm is in the stability augmentation mode, and if so, step S20 may be triggered. If the second axle arm is not in the stability augmentation mode, such as in the following mode, and the joint angle of the second axle arm is already locked, when the cart 1000 is moving up the incline, the rotation of the yaw axle arm 142 will not rotate the pitch axle arm 146 about the pitch axis, without triggering step S20.

Taking the pan/tilt head 100 shown in fig. 2 as an example, when the pitch axis arm 146 is in the stability increasing mode, i.e., in the mode of locking the euler angle, no matter the mobile cart 1000 is moving in the horizontal plane or on the inclined plane, if the user only inputs the euler angular velocity of the yaw axis, the euler angle of the pitch axis arm 146 (i.e., the euler angle of the shooting device 31) will be always constant, e.g., always in the horizontal direction. This obviously does not meet the practical requirements of the dolly 1000 for shooting a target (e.g. hitting a competitor in a confrontation game) on an uphill slope, in which case the user can simultaneously input the euler angular velocity corresponding to the yaw axis and the euler angular velocity corresponding to the pitch axis to cause the shooting device 31 to shoot in a direction parallel to the inclined plane. However, the user needs to input two euler angular velocities simultaneously, and the operation is complicated.

Preferably, when the pitch axis arm 146 is in the stability augmentation mode, the user may input the joint angular velocity of the yaw axis arm 142, and obtain the desired euler angular velocity of the cradle head 100 through the above conversion of S20, and when the cradle head 100 moves according to the desired euler angular velocity, the cradle head 100 may rotate around the Z axis of the base of the cradle head 100, so that the shooting direction of the shooting device 31 may be parallel to the inclined plane. Meanwhile, the user only needs to input one quantity, namely the expected joint angular velocity of the yaw axis arm 142, so that the yaw axis arm 142 and the pitch axis arm 146 can be controlled, and the operation is simple and convenient. Referring to fig. 18, in this embodiment, before converting the desired joint angular velocity into the desired euler angular velocity according to the desired joint angular velocity, the conversion relationship between the pan-tilt joint angular coordinate system and the cloud platform body coordinate system, and the conversion relationship between the cloud platform body coordinate system and the euler coordinate system, that is, before step S20, the control method further includes the following steps:

s70, detecting whether the base of the pan/tilt head 100 tilts;

if yes, triggering a step of converting the expected joint angular velocity into the expected Euler angular velocity according to the expected joint angular velocity, the conversion relation between the cloud platform joint angular coordinate system and the cloud platform body coordinate system and the conversion relation between the cloud platform body coordinate system and the Euler coordinate system.

With continued reference to fig. 2, fig. 3, and fig. 18, in the present embodiment, the processor 20 is further configured to: detecting whether the base of the pan/tilt head 100 is tilted; if yes, triggering a step of converting the expected joint angular velocity into the expected Euler angular velocity according to the expected joint angular velocity, the conversion relation between the cloud platform joint angular coordinate system and the cloud platform body coordinate system and the conversion relation between the cloud platform body coordinate system and the Euler coordinate system.

That is, step S70 may be implemented by processor 20.

In step S70, if it is detected that the base of the platform 100 is not tilted, the step S20 is not triggered. If it is detected that the base of the pan/tilt head 100 is tilted, step S20 is triggered.

Specifically, when the base of the pan/tilt head 100 is not tilted, the corresponding control of any one of the axis arms in the pan/tilt head 100 has a small influence on the postures of the other axis arms, and the euler angle corresponding to any one of the axis arms is unique. Therefore, when the base of the pan/tilt head 100 is not tilted, the desired joint angular velocity may not be converted via the pan/tilt head body coordinate system, the pan/tilt head 100 may be controlled by directly using the desired joint angular velocity, or the pan/tilt head 100 may be controlled according to other input information of the user, so as to reduce the consumption of unnecessary computing resources.

Taking the load 30 as the firing device 31 as an example, if it is detected that the base of the pan/tilt head 100 is not tilted, the mobile cart 1000 is considered to be still moving on the horizontal plane, and at this time, the pan/tilt head 100 can be directly controlled at the desired joint angular velocity without converting the desired joint angular velocity into the euler angular velocity, and the step S20 is not triggered.

Taking the load 30 as the imaging device 32 as an example, if it is detected that the base of the pan/tilt head 100 (in this case, the handle of the handheld pan/tilt head) is not tilted, it is determined that the joint angle coordinate system on the handle still coincides with the world coordinate system, and the step S20 is not triggered.

It can be understood that the embodiments shown in fig. 17 and fig. 18 can be combined correspondingly, that is, whether the base of the pan/tilt head 100 is tilted and whether the second axis of the pan/tilt head 100 is in the stability enhancement mode are detected simultaneously, and only when the two occur simultaneously, the desired joint angle is converted through the cloud platform body coordinate system, so as to reduce the waste of computing resources without performing the conversion.

Referring to fig. 19, in the present embodiment, the step S70 of detecting whether the base of the pan/tilt head 100 is tilted includes the following sub-steps:

s71, acquiring attitude parameters of the base of the holder 100;

s72, judging whether the included angle of the base of the holder 100 relative to the horizontal plane is larger than a preset angle threshold value or not according to the attitude parameters; if yes, determining that the base is inclined.

With continued reference to fig. 2, fig. 3, and fig. 19, in the present embodiment, the processor 20 is further configured to: acquiring attitude parameters of a base of the pan/tilt head 100; judging whether the included angle of the base of the holder 100 relative to the horizontal plane is greater than a preset angle threshold value or not according to the attitude parameters; if yes, determining that the base is inclined.

That is, steps S71 and S72 may be implemented by the processor 20.

Compared with the inclined arrangement of the base of the pan/tilt head 100, the attitude parameters of the base of the pan/tilt head 100 generally have a larger difference, which can be embodied as that the included angle between the base of the pan/tilt head 100 and the horizontal plane is different. Therefore, whether the base of the pan/tilt head 100 is tilted can be determined by determining whether the included angle of the base with respect to the horizontal plane is greater than a preset angle threshold.

Specifically, the preset angle threshold may be predetermined according to experimental statistical data, or may be input by a user. For example, the predetermined angle threshold may be 0, and when the angle between the base of the pan/tilt head 100 and the horizontal plane is greater than 0 degrees, the base is determined to be tilted, and when the angle between the base of the pan/tilt head 100 and the horizontal plane is equal to 0 degrees, the base of the pan/tilt head 100 is determined not to be tilted.

In some embodiments, it may be mistaken for the base of the pan/tilt head 100 to be inclined, for example, when the pan/tilt head 100 is a pan/tilt head mounted on the mobile cart 1000 shown in fig. 2, for example, when the mobile cart 1000 moves, if there is a small gravel on the ground, and the driving device of the mobile cart 1000, such as a wheel, presses the small gravel, the base of the pan/tilt head 100 may be inclined, but the angle between the base of the pan/tilt head 100 and the horizontal plane may be small, and the attitude control of the pan/tilt head 100 is not greatly affected. Therefore, in order to avoid misunderstanding that the base of the pan/tilt head 100 is tilted, the preset angle threshold may be a threshold greater than 0, and the specific value may be set as required.

Taking the load 30 as the firing device 31 as an example, assuming that the preset angle threshold is 5 degrees, when the included angle between the base of the pan/tilt head 100 and the horizontal plane is less than 10 degrees, it is determined that the cart is still moving in a relatively horizontal plane, and the step S20 is not triggered. Taking the load 30 as the imaging device 32 as an example, when the included angle between the base of the pan/tilt head 100 and the horizontal plane is less than 5 degrees, it is determined that the handle holding the pan/tilt head is not tilted, and the step S20 is not triggered.

Referring to fig. 20, further, in the present embodiment, the step S72 of determining whether the included angle between the base of the pan/tilt head 100 and the horizontal plane is greater than the preset angle threshold includes:

s721, determine whether the included angles of the base of the cradle head 100 with respect to the horizontal plane within the preset time period are all greater than the preset angle threshold.

With continuing reference to fig. 2, fig. 3 and fig. 20, in the present embodiment, the processor 20 is further configured to: and judging whether included angles of the base of the holder 100 relative to the horizontal plane within the preset time are all larger than a preset angle threshold value.

That is, step S721 may be implemented by the processor 20.

In some embodiments, the determined angle of the base of the head 100 relative to the horizontal may also generally vary significantly when the base of the head 100 is mistilted, but the duration of mistilting of the base of the head 100 is generally relatively short. In order to distinguish the inclination of the base of the cradle head 100 from the erroneous inclination of the base of the cradle head 100, it can be determined whether the included angles of the base of the cradle head 100 relative to the horizontal plane within the preset time period are all greater than a preset angle threshold value. When the included angle of the base of the cradle head 100 relative to the horizontal plane is greater than the preset angle threshold value within the preset time, the base of the cradle head 100 may be considered to be inclined at this time. When the included angle of the base of the cradle head 100 with respect to the horizontal plane is not all greater than the preset angle threshold value within the preset time, the base of the cradle head 100 may be considered to be inclined by mistake. Wherein the preset time period may be pre-stored in the cradle head 100 or determined by user input. In an embodiment, the preset duration is 1 second, the determination period of the attitude parameter of the base of the pan/tilt head 100 is 0.001 second, and then within 1 second, if the included angles of the base of the pan/tilt head 100 determined for 1000 times with respect to the horizontal plane are all greater than the preset angle threshold, it is considered that the base of the pan/tilt head 100 is tilted, if the included angle of the base of the pan/tilt head 100 determined for one time with respect to the horizontal plane is not greater than the preset angle threshold, for example, the 1000 th time does not meet the preset condition, it is considered that the base of the pan/tilt head 100 is tilted by mistake, and when the included angle of the base of the pan/tilt head 100 with respect to the horizontal plane is greater than the preset angle threshold, it may be determined again whether the included angles of the base of the pan/tilt head 100 with respect to the horizontal plane within the preset duration are.

Thus, within a preset time period, if the included angle of the base of the cradle head 100 relative to the horizontal plane is greater than a preset angle threshold, the base of the cradle head 100 can be considered to be inclined.

Taking the load 30 as the firing device 31 as an example, when it is detected that the base of the pan/tilt head 100 is tilted, the mobile cart 1000 may be considered to be moving on the inclined surface, and at this time, the step S20 needs to be triggered. And within the preset duration, if the included angle of the base of the pan/tilt head 100 with respect to the horizontal plane is smaller than the preset angle threshold, or the included angle is continuously smaller than the preset angle threshold, the step S20 is not triggered.

For example, when the mobile cart 1000 is in a state where the base of the pan/tilt head 100 is mistakenly considered to be inclined, such as crushing stone, the included angle between the base of the pan/tilt head 100 and the horizontal plane may be larger than the preset angle threshold value in a short time. Therefore, by setting the preset time period, it can be further accurately determined whether the base of the pan/tilt head 100 is in a tilting condition that requires triggering step S20.

In this embodiment, the attitude parameters of the base of the pan/tilt head 100 can be determined in the following two ways:

the first mode is as follows: the cradle head 100 is provided with a first attitude sensor. The current attitude of the pan/tilt head 100 is acquired by the first attitude sensor. Referring to fig. 21, step S71 is to obtain the attitude parameter of the base of the pan/tilt head 100, and includes the following sub-steps:

s711, determining an attitude parameter of the base of the pan/tilt head 100 according to the current attitude of the pan/tilt head 100.

With continued reference to fig. 2, fig. 3, and fig. 21, in the present embodiment, the processor 20 is further configured to: the attitude parameters of the base of the head 100 are determined according to the current attitude of the head 100.

That is, step S711 may be implemented by the processor 20.

The first attitude sensor is disposed on the cradle head 100 and acquires the current attitude of the cradle head 100 in real time. The first attitude sensor may be an Inertial Measurement Unit (IMU). The IMU may include three single axis accelerometers and three single axis gyroscopes. The IMU is used to measure the angular velocity and acceleration of the pan/tilt head 100 in the three-dimensional space, that is, the current attitude of the pan/tilt head 100 can be calculated by means of integration.

When the current posture of the pan/tilt head 100 is obtained, the posture parameter of the base of the pan/tilt head 100 may be obtained by using the relationship between the pan/tilt head 100 and the base of the pan/tilt head 100, and further, whether the base of the pan/tilt head 100 is tilted is determined.

The second mode is as follows: the base of the cradle head 100 is provided with a second attitude sensor. The attitude parameters of the base of the pan/tilt head 100 are collected by the second attitude sensor.

That is, the second attitude sensor may directly detect the attitude parameter of the base of the pan/tilt head 100 to further determine whether the base of the pan/tilt head 100 is tilted. Wherein the second attitude sensor may be an accelerometer.

Referring to fig. 22, in the present embodiment, before determining the desired attitude of the pan/tilt head 100 according to the current attitude and the desired euler angular velocity of the pan/tilt head 100, that is, before step S30, the control method further includes the following steps:

and S80, controlling the speed of the third axis arm in the expected Euler angular speed to be a preset value, wherein the holder 100 is not provided with the third axis arm.

With continued reference to fig. 2 and fig. 22, in the present embodiment, the processor 20 is further configured to: and controlling the speed of the expected Euler angular speed corresponding to the third shaft arm to be a preset value, wherein the holder 100 is not provided with the third shaft arm.

That is, step S80 may be implemented by processor 20.

After obtaining the desired euler angular velocity, the desired euler angular velocity may correspond to three axis arms (corresponding to the yaw axis, the pitch axis, and the roll axis). However, in the case of the two-axis pan/tilt head 100 or the case of only controlling two axis arms of the pan/tilt head 100, taking the corresponding yaw axis and pitch axis as an example, even if the axis arm corresponding to the roll axis does not actually exist, the axis arm corresponding to the roll axis may still have the desired euler angular velocity due to the calculation of the euler angle. At this time, the speed of the third shaft arm may be set to a preset value to prevent the motor torque output from saturating, affecting the control of the other shaft arms.

Wherein the preset value may be, for example, 0.

It can be understood that, if the pan/tilt head 100 in fig. 3 is not a three-axis pan/tilt head, the euler angular velocity of the third axis arm in the pan/tilt head 100 may also be controlled to be a preset value. That is, the present embodiment may be applied to a handheld pan/tilt head.

It will be appreciated that the differences in the above embodiments, where possible, can be combined accordingly to arrive at other embodiments not described herein. The cradle head 100 in the embodiment of the present invention may be a cradle head of any configuration, may also carry any load 30, and may be suitable for a situation where the attitude of the cradle head 100 cannot be effectively controlled due to the inclination of the base of the cradle head 100.

Referring to fig. 23, a computer-readable storage medium 300 according to an embodiment of the present invention includes a computer program, which can be executed by a processor 20 to implement the control method according to any one of the above embodiments.

For example, referring to fig. 1 and 23, a computer program may be executed by the processor 20 to perform the control method described in the following steps:

As another example, please refer to fig. 6 and 23, the computer program can be further executed by the processor 20 to perform the control method as follows:

In the description of the embodiments of the present invention, it should be understood that the terms "first", "second", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit indication of the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.

In the description of the specification, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example" or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processing module-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection having one or more wires (control method), a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of embodiments of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments. In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium. The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

A control method of a pan-tilt head, the control method comprising:

acquiring an expected joint angular velocity of the holder in a holder joint angular coordinate system;

converting the expected joint angular velocity into an expected Euler angular velocity according to the expected joint angular velocity, the conversion relation between the holder joint angular coordinate system and the cloud platform body coordinate system and the conversion relation between the cloud platform body coordinate system and the Euler coordinate system;

and determining the expected attitude of the holder according to the current attitude of the holder and the expected Euler angular velocity.
The control method according to claim 1, wherein after said determining a desired attitude of the pan/tilt head from the current attitude of the pan/tilt head and the desired euler angular velocity, the control method further comprises:

and controlling the holder to rotate to the expected attitude according to the expected Euler angular velocity.
The control method according to claim 2, wherein said controlling the pan/tilt head to rotate to the desired attitude in accordance with the desired euler angular velocity comprises:

and when a preset shooting trigger event occurs, controlling the holder to rotate to the expected posture according to the expected Euler angular velocity.
The control method according to claim 1, wherein the obtaining of the desired joint angular velocity of the pan/tilt head in a pan/tilt head joint angular coordinate system comprises:

receiving input information for controlling the rotating speed of the holder;

and determining the expected joint angular speed of the holder in the holder joint angular coordinate system according to the input information.
The control method of claim 4, wherein the input information comprises a desired joint angle, and wherein determining a desired joint angular velocity of the pan/tilt head in the pan/tilt head joint angle coordinate system based on the input information comprises:

and determining the expected joint angular speed of the cradle head in the cradle head joint angular coordinate system according to the expected joint angle, the current posture and the preset movement time.
The control method according to claim 5, wherein the desired joint angle comprises a plurality of joint angles, and wherein determining the desired joint angular velocity of the pan/tilt head in the pan/tilt head joint angle coordinate system according to the desired joint angle, the current attitude, and a preset movement time comprises:

and determining expected joint angular velocities of the cradle head in the cradle head joint angle coordinate system, which correspond to the expected movement paths according to the expected joint angles, the current attitude and the preset movement time, wherein the expected movement paths are determined according to the expected joint angles and the current attitude.
The control method of claim 4, wherein the input information comprises a desired motion path, and wherein determining a desired joint angular velocity of the pan/tilt head in a pan/tilt joint angular coordinate system based on the input information comprises:

determining a desired joint angle of the pan/tilt head according to the desired motion path;

and determining the expected joint angular speed of the holder in a holder joint angular coordinate system according to the expected joint angle, the current posture and the preset movement time.
The control method according to claim 7, wherein the desired motion path is determined according to a change in posture of the pan/tilt head when the cloud deck is manually broken.
The control method according to claim 8, wherein an imaging device is mounted on the pan/tilt head, the control method further comprising:

and outputting a preview picture of the imaging device in the process of manually breaking the holder.
The control method according to claim 4, wherein said determining a desired joint angular velocity of the pan/tilt head in the pan/tilt head joint angular coordinate system based on the input information comprises:

determining a target speed pattern matching the input information among a plurality of historical speed patterns;

and determining the expected joint angular speed of the holder in a holder joint angular coordinate system according to the target speed mode.
The control method of claim 4, wherein the input information includes a rocker lever amount, and wherein determining the desired joint angular velocity of the pan/tilt head in a pan/tilt joint angular coordinate system based on the input information includes:

and determining the expected joint angular velocity of the holder in a holder joint angular coordinate system according to the rocker operating lever amount and the corresponding relation between the preset rocker operating lever amount and the joint angular velocity.
The control method according to claim 1, wherein the obtaining of the desired joint angular velocity of the pan/tilt head in a pan/tilt head joint angular coordinate system comprises:

acquiring an expected joint angular velocity of a first shaft arm in the holder in a holder joint angular coordinate system;

before the converting the desired joint angular velocity into the desired euler angular velocity according to the desired joint angular velocity, the conversion relationship between the pan/tilt joint angular coordinate system and the cloud platform body coordinate system, and the conversion relationship between the cloud platform body coordinate system and the euler coordinate system, the control method further includes:

detecting whether a second shaft arm in the holder is in a stability augmentation mode or not, wherein the first shaft arm is used for driving the second shaft arm to rotate;

and if so, triggering the step of converting the expected joint angular velocity into the expected Euler angular velocity according to the expected joint angular velocity, the conversion relation between the cloud platform joint angular coordinate system and the cloud platform body coordinate system and the conversion relation between the cloud platform body coordinate system and the Euler coordinate system.
The control method according to claim 12, wherein the first axle arm comprises a yaw axle arm and the second axle arm comprises a pitch axle arm and/or a roll axle arm.
The control method according to any one of claims 1 to 13, wherein a shooting device is mounted on the pan/tilt head.
The control method according to any one of claims 1 to 13, characterized in that before said converting the desired joint angular velocity into a desired euler angular velocity in accordance with the desired joint angular velocity, a conversion relationship between the pan-tilt joint angular coordinate system and a cloud platform body coordinate system, and a conversion relationship between the cloud platform body coordinate system and an euler coordinate system, the control method further comprises:

detecting whether the base of the holder is inclined or not;

and if so, triggering the step of converting the expected joint angular velocity into the expected Euler angular velocity according to the expected joint angular velocity, the conversion relation between the cloud platform joint angular coordinate system and the cloud platform body coordinate system and the conversion relation between the cloud platform body coordinate system and the Euler coordinate system.
The control method according to claim 15, wherein said detecting whether the base of the head is tilted comprises:

acquiring attitude parameters of a base of the holder;

judging whether the included angle of the base of the holder relative to the horizontal plane is larger than a preset angle threshold value or not according to the attitude parameters;

and if so, determining that the base is inclined.
The control method according to claim 16, wherein said determining whether the included angle of the base of the pan/tilt head with respect to the horizontal plane is greater than a preset angle threshold value comprises:

and judging whether included angles of the base of the holder relative to the horizontal plane are all larger than a preset angle threshold value within a preset time.
The control method according to claim 16, wherein a first attitude sensor is disposed on the pan/tilt head, the current attitude of the pan/tilt head is acquired by the first attitude sensor, and the acquiring the attitude parameter of the base of the pan/tilt head includes:

and determining the attitude parameter of the base of the holder according to the current attitude of the holder.
The control method according to claim 16, wherein a second attitude sensor is provided on the base of the pan/tilt head, and the attitude parameters of the base of the pan/tilt head are acquired by the second attitude sensor.
The control method according to claim 1, wherein before said determining a desired attitude of said pan/tilt head from a current attitude of said pan/tilt head and said desired euler angular velocity, said control method further comprises:

and controlling the speed of the expected Euler angular speed corresponding to the third shaft arm to be a preset value, wherein the third shaft arm is not arranged on the tripod head.
The control method of claim 20, wherein the third axle arm comprises a roll axle arm.
A head, characterized in that it comprises a processor for:

acquiring an expected joint angular velocity of the holder in a holder joint angular coordinate system;

converting the expected joint angular velocity into an expected Euler angular velocity according to the expected joint angular velocity, the conversion relation between the holder joint angular coordinate system and the cloud platform body coordinate system and the conversion relation between the cloud platform body coordinate system and the Euler coordinate system;

and determining the expected attitude of the holder according to the current attitude of the holder and the expected Euler angular velocity.
A head according to claim 22, wherein said processor is further configured to:

and controlling the holder to rotate to the expected attitude according to the expected Euler angular velocity.
A head according to claim 23, wherein said processor is further configured to:

and when a preset shooting trigger event occurs, controlling the holder to rotate to the expected posture according to the expected Euler angular velocity.
A head according to claim 22, wherein said processor is further configured to:

receiving input information for controlling the rotating speed of the holder;

and determining the expected joint angular speed of the holder in the holder joint angular coordinate system according to the input information.
A head according to claim 25, wherein said input information comprises a desired joint angle, said processor being further configured to:

and determining the expected joint angular speed of the cradle head in the cradle head joint angular coordinate system according to the expected joint angle, the current posture and the preset movement time.
A head according to claim 26, wherein said desired articulation angle comprises a plurality, said processor being further configured to:

and determining expected joint angular velocities of the cradle head in the cradle head joint angle coordinate system, which correspond to the expected movement paths according to the expected joint angles, the current attitude and the preset movement time, wherein the expected movement paths are determined according to the expected joint angles and the current attitude.
A head according to claim 25, wherein said input information comprises a desired movement path, said processor being further configured to:

determining a desired joint angle of the pan/tilt head according to the desired motion path;

and determining the expected joint angular speed of the holder in a holder joint angular coordinate system according to the expected joint angle, the current posture and the preset movement time.
A head according to claim 28, wherein said desired movement path is determined by the change of attitude of said head when said cloud platform is manually broken.
A head according to claim 29, wherein said head carries an imaging device, said processor being further configured to:

and outputting a preview picture of the imaging device in the process of manually breaking the holder.
A head according to claim 25, wherein said processor is further configured to:

determining a target speed pattern matching the input information among a plurality of historical speed patterns;

and determining the expected joint angular speed of the holder in a holder joint angular coordinate system according to the target speed mode.
A head according to claim 25, wherein said input information comprises a rocker lever amount, said processor being further configured to:

and determining the expected joint angular velocity of the holder in a holder joint angular coordinate system according to the rocker operating lever amount and the corresponding relation between the preset rocker operating lever amount and the joint angular velocity.
A head according to claim 22, wherein said processor is further configured to:

acquiring an expected joint angular velocity of a first shaft arm in the holder in a holder joint angular coordinate system;

detecting whether a second shaft arm in the holder is in a stability augmentation mode or not, wherein the first shaft arm is used for driving the second shaft arm to rotate;

and if so, triggering the step of converting the expected joint angular velocity into the expected Euler angular velocity according to the expected joint angular velocity, the conversion relation between the cloud platform joint angular coordinate system and the cloud platform body coordinate system and the conversion relation between the cloud platform body coordinate system and the Euler coordinate system.
A head according to claim 33, wherein said first axis arm comprises a yaw axis arm, and said second axis arm comprises a pitch axis arm and/or a roll axis arm.
A head according to any one of claims 22 to 34, wherein a firing device is mounted on the head.
A head according to any one of claims 22 to 34, wherein said processor is further configured to:

detecting whether the base of the holder is inclined or not;

and if so, triggering the step of converting the expected joint angular velocity into the expected Euler angular velocity according to the expected joint angular velocity, the conversion relation between the cloud platform joint angular coordinate system and the cloud platform body coordinate system and the conversion relation between the cloud platform body coordinate system and the Euler coordinate system.
A head according to claim 36, wherein said processor is further configured to:

acquiring attitude parameters of a base of the holder;

judging whether the included angle of the base of the holder relative to the horizontal plane is larger than a preset angle threshold value or not according to the attitude parameters;

and if so, determining that the base is inclined.
A head according to claim 37, wherein said processor is further configured to:

and judging whether included angles of the base of the holder relative to the horizontal plane are all larger than a preset angle threshold value within a preset time.
A holder according to claim 37, wherein a first attitude sensor is provided on said holder, the current attitude of said holder being acquired by said first attitude sensor, said processor being further configured to:

and determining the attitude parameter of the base of the holder according to the current attitude of the holder.
A head according to claim 37, wherein a second attitude sensor is provided on the base of said head, the attitude parameters of said base of said head being acquired by said second attitude sensor.
A head according to claim 22, wherein said processor is further configured to:

and controlling the speed of the expected Euler angular speed corresponding to the third shaft arm to be a preset value, wherein the third shaft arm is not arranged on the tripod head.
A head according to claim 41, wherein said third axis arm comprises a roll axis arm.
A movable platform, comprising:

a body; and

the cloud platform, the cloud platform sets up on the body, the cloud platform includes the treater, the treater is used for:

acquiring an expected joint angular velocity of the holder in a holder joint angular coordinate system;

converting the expected joint angular velocity into an expected Euler angular velocity according to the expected joint angular velocity, the conversion relation between the holder joint angular coordinate system and the cloud platform body coordinate system and the conversion relation between the cloud platform body coordinate system and the Euler coordinate system;

and determining the expected attitude of the holder according to the current attitude of the holder and the expected Euler angular velocity.
The movable platform of claim 43, wherein the processor is further configured to:

and controlling the holder to rotate to the expected attitude according to the expected Euler angular velocity.
The movable platform of claim 44, wherein the processor is further configured to:

and when a preset shooting trigger event occurs, controlling the holder to rotate to the expected posture according to the expected Euler angular velocity.
The movable platform of claim 43, wherein the processor is further configured to:

receiving input information for controlling the rotating speed of the holder;

and determining the expected joint angular speed of the holder in the holder joint angular coordinate system according to the input information.
The movable platform of claim 46, wherein the input information comprises a desired joint angle, the processor further configured to:

and determining the expected joint angular speed of the cradle head in the cradle head joint angular coordinate system according to the expected joint angle, the current posture and the preset movement time.
The movable platform of claim 47, wherein the desired articulation angle comprises a plurality, the processor further configured to:

and determining expected joint angular velocities of the cradle head in the cradle head joint angle coordinate system, which correspond to the expected movement paths according to the expected joint angles, the current attitude and the preset movement time, wherein the expected movement paths are determined according to the expected joint angles and the current attitude.
The movable platform of claim 46, wherein the input information comprises a desired motion path, the processor further configured to:

determining a desired joint angle of the pan/tilt head according to the desired motion path;

and determining the expected joint angular speed of the holder in a holder joint angular coordinate system according to the expected joint angle, the current posture and the preset movement time.
The movable platform of claim 49, wherein the desired motion path is determined according to a change in a posture of the pan/tilt head when the cloud platform is manually broken.
The movable platform of claim 50, wherein the pan/tilt head carries an imaging device thereon, the processor further configured to:

and outputting a preview picture of the imaging device in the process of manually breaking the holder.
The movable platform of claim 46, wherein the processor is further configured to:

determining a target speed pattern matching the input information among a plurality of historical speed patterns;

and determining the expected joint angular speed of the holder in a holder joint angular coordinate system according to the target speed mode.
The movable platform of claim 46, wherein the input information comprises a rocker lever amount, the processor further configured to:

and determining the expected joint angular velocity of the holder in a holder joint angular coordinate system according to the rocker operating lever amount and the corresponding relation between the preset rocker operating lever amount and the joint angular velocity.
The movable platform of claim 43, wherein the processor is further configured to:

acquiring an expected joint angular velocity of a first shaft arm in the holder in a holder joint angular coordinate system;

detecting whether a second shaft arm in the holder is in a stability augmentation mode or not, wherein the first shaft arm is used for driving the second shaft arm to rotate;

and if so, triggering the step of converting the expected joint angular velocity into the expected Euler angular velocity according to the expected joint angular velocity, the conversion relation between the cloud platform joint angular coordinate system and the cloud platform body coordinate system and the conversion relation between the cloud platform body coordinate system and the Euler coordinate system.
The movable platform of claim 54, wherein the first axle arm comprises a yaw axle arm and the second axle arm comprises a pitch axle arm and/or a roll axle arm.
A movable platform according to any one of claims 43-55, wherein a shooting device is carried on the head.
The movable platform of any one of claims 43-55, wherein the processor is further configured to:

detecting whether the base of the holder is inclined or not;

and if so, triggering the step of converting the expected joint angular velocity into the expected Euler angular velocity according to the expected joint angular velocity, the conversion relation between the cloud platform joint angular coordinate system and the cloud platform body coordinate system and the conversion relation between the cloud platform body coordinate system and the Euler coordinate system.
The movable platform of claim 57, wherein the processor is further configured to:

acquiring attitude parameters of a base of the holder;

judging whether the included angle of the base of the holder relative to the horizontal plane is larger than a preset angle threshold value or not according to the attitude parameters;

and if so, determining that the base is inclined.
The movable platform of claim 58, wherein the processor is further configured to:

and judging whether included angles of the base of the holder relative to the horizontal plane are all larger than a preset angle threshold value within a preset time.
The movable platform of claim 58, wherein the pan/tilt head is provided with a first attitude sensor, the current attitude of the pan/tilt head is acquired by the first attitude sensor, and the processor is further configured to:

and determining the attitude parameter of the base of the holder according to the current attitude of the holder.
The movable platform of claim 58, wherein a second attitude sensor is disposed on the base of the pan/tilt head, and the attitude parameters of the base of the pan/tilt head are collected by the second attitude sensor.
The movable platform of claim 43, wherein the processor is further configured to:

and controlling the speed of the expected Euler angular speed corresponding to the third shaft arm to be a preset value, wherein the third shaft arm is not arranged on the tripod head.
The movable platform of claim 62, wherein the third axle arm comprises a roll axle arm.
A computer-readable storage medium storing a computer program, wherein the computer program is executable by a processor to perform the control method according to any one of claims 1 to 21.